Adaptive Control Systems

Gang Feng Ph.D. M.Eng. B.Eng., Rogelio Lozano9780750639965, 07506-3996-2

Adaptive control is no longer just an important theoretical field of study, but is also providing solutions to real-world problems. Adaptive techniques will transform the world of control. The leading world practitioners of adaptive control have contributed to this handbook which is the most important work yet in this field. Not only are techniques described in theory, but detailed control algorithms are given, making this a practical cookbook of adaptive control for both control professionals and practising engineers.The book presents the most advanced techniques and algorithms of adaptive control. These include various robust techniques, performance enhancement techniques, techniques with less a-priori knowledge, nonlinear adaptive control techniques and intelligent adaptive techniques. Each technique described has been developed to provide a practical solution to a real-life problem. This volume will therefore not only advance the field of adaptive control as an area of study, but will also show how the potential of this technology can be realised and offer significant benefits.

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Table of contents :
Contents……Page 5
List of contributors……Page 9
Preface……Page 15
1.1 Introduction……Page 21
1.2 Internal model control (IMC) schemes: known parameters……Page 22
1.3 Adaptive internal model control schemes……Page 27
1.4 Stability and robustness analysis……Page 32
1.5 Simulation examples……Page 38
1.6 Concluding remarks……Page 39
2.1 Introduction……Page 43
2.2 Problem formulation……Page 45
2.3 Ordinary direct adaptive control with dead zone……Page 47
2.4 New robust direct adaptive control……Page 48
2.5 Robust adaptive control with least prior knowledge……Page 52
2.6 Simulation example……Page 56
2.7 Conclusions……Page 58
3.1 Introduction……Page 61
3.2 Problem formulation……Page 63
3.3 The case of relative degree one……Page 66
3.4 The case of arbitrary relative degree……Page 69
3.5 Computer simulations……Page 76
3.6 Conclusion……Page 79
4.1 Introduction……Page 83
4.2 Problem formulation……Page 85
4.3 Adaptive control scheme……Page 88
4.4 Adaptive control law……Page 89
4.5 Simulations……Page 94
4.6 Conclusions……Page 98
5.1 Introduction……Page 100
5.2 Problem statement……Page 106
5.3 Direct localization principle……Page 109
5.4 Indirect localization principle……Page 121
5.5 Simulation examples……Page 128
Appendix 5A……Page 132
Appendix 5B……Page 135
6.1 Introduction……Page 139
6.2 Mathematical preliminaries……Page 141
6.3 Adaptive passivation……Page 147
6.4 Small gain-based adaptive control……Page 158
6.5 Conclusions……Page 175
7. Active identification for control of discrete-time uncertain nonlinear systems……Page 179
7.1 Introduction……Page 180
7.2 Problem formulation……Page 181
7.3 Active identification……Page 186
7.5 Concluding remarks……Page 198
8.1 Introduction……Page 204
8.2 Problem statement: adaptive tracking……Page 206
8.3 Adaptive tracking and atclf’s……Page 208
8.4 Adaptive backstepping……Page 213
8.5 Inverse optimal adaptive tracking……Page 217
8.6 Inverse optimality via backstepping……Page 222
8.7 Design for strict-feedback systems……Page 225
8.8 Transient performance……Page 229
Appendix: A technical lemma……Page 230
9.1 Introduction……Page 235
9.2 Statement of the problem……Page 238
9.3 Preliminaries……Page 240
9.4 Stable adaptive NP-systems……Page 248
9.5 Applications……Page 256
9.6 Conclusions……Page 265
Appendix: Proof of lemmas……Page 266
10.1 Introduction……Page 280
10.2 Plants with actuator nonlinearities……Page 282
10.3 Parametrized inverses……Page 283
10.4 State feedback designs……Page 285
10.5 Output feedback inverse control……Page 289
10.6 Output feedback designs……Page 291
10.7 Designs for multivariable systems……Page 295
10.8 Designs for nonlinear dynamics……Page 301
10.9 Concluding remarks……Page 304
11.1 Introduction……Page 307
11.2 Direct adaptive control……Page 309
11.3 Indirect adaptive control……Page 316
11.4 Applications……Page 319
11.5 Conclusions……Page 326
12. Adaptive robust control scheme with an application to PM synchronous motors……Page 328
12.1 Introduction……Page 329
12.2 Problem formation……Page 330
12.3 Adaptive robust control with modification……Page 332
12.4 Application to PM synchronous motors……Page 337
12.5 Conclusion……Page 340
Appendix A……Page 341
Appendix B……Page 342
Appendix C……Page 344
Appendix D……Page 345
Appendix E……Page 346
Index……Page 349